工程设计学报2018，Vol.25Issue(2)：188-193,6.DOI:10.3785/j.issn.1006-754X.2018.02.009
索杆式风电叶片检测装置的运动学分析
Kinematics analysis of detection device of cable-link wind turbine blades
摘要
Abstract
In view of the defects existing in the detection device of wind turbine blades,a cable-link detection device is designed.Firstly,the components,special structural design and working method of the device were briefly introduced.Secondly,the kinematics analysis for the core part—cable-link detection platform was carried out to study the relationship between the pose of the moving platform on the detection platform and the length change of the driving ropes and the driving hydraulic cylinder,and the velocity variation of the branched chains of the moving plat-form in a specific movement process.The moving coordinate system and the fixed coordinate system were established on the moving platform and the fixed platform,the forward and inverse kinematics a-nalysis models of the parallel detection platform were obtained by Newton Raphson iteration and space vectors method,respectively.The velocity Jacobian matrix of the mechanism was deduced by analytical method.Finally,the detailed numerical calculation was carried out through MATLAB programming,the correctness of Newton Raphson iteration was verified by inverse kinematics analysis and the velocity vari-ation curve of branched chains was plotted,which laid a theoretical foundation for the research on work-space and real time control of the detection device.关键词
风电叶片检测装置/索杆混联结构/并联平台/运动学正反解分析/雅克比矩阵Key words
detection device of wind turbine blades/cable-link structure/parallel platform/for-ward and inverse kinematics analysis/Jacobian matrix分类
信息技术与安全科学引用本文复制引用
高征,王璐,郭钰莹..索杆式风电叶片检测装置的运动学分析[J].工程设计学报,2018,25(2):188-193,6.基金项目
国家自然科学基金资助项目(61403118) （61403118）
